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Commit eeb02a1b authored by Sergi Pujol's avatar Sergi Pujol
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CMakeLists corrected, corner_falko_demo.cpp corrected

parent 1abdf4ab
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1 merge request!4Resolve "Implementation of Falko lib"
...@@ -55,7 +55,6 @@ SET(HDRS ...@@ -55,7 +55,6 @@ SET(HDRS
point_set.h point_set.h
polyline.h polyline.h
scan_segment.h scan_segment.h
corner_falko_2d.h
) )
IF(csm_FOUND) IF(csm_FOUND)
SET(HDRS ${HDRS} SET(HDRS ${HDRS}
......
...@@ -19,6 +19,7 @@ CornerFalko2d::CornerFalko2d(int _circularSectorNumber, int _radialRingNumber, b ...@@ -19,6 +19,7 @@ CornerFalko2d::CornerFalko2d(int _circularSectorNumber, int _radialRingNumber, b
setBRatio(4); setBRatio(4);
setGridSectors(16); setGridSectors(16);
} }
CornerFalko2d::~CornerFalko2d() CornerFalko2d::~CornerFalko2d()
...@@ -42,7 +43,7 @@ void CornerFalko2d::storeCorners (falkolib::LaserScan scan, int scanInterval){ ...@@ -42,7 +43,7 @@ void CornerFalko2d::storeCorners (falkolib::LaserScan scan, int scanInterval){
keypointSets.push_back(lastKeypointSet); keypointSets.push_back(lastKeypointSet);
descriptorSets.push_back(lastDescriptorSet); descriptorSets.push_back(lastDescriptorSet);
std::cout << "sizeof : " << lastKeypointSet.size() << std::endl; scansExtracted=scansExtracted+1;
} }
...@@ -65,7 +66,6 @@ void CornerFalko2d::findLoopClosure(falkolib::LaserScan scan){ ...@@ -65,7 +66,6 @@ void CornerFalko2d::findLoopClosure(falkolib::LaserScan scan){
setDistanceThreshold(0.1); setDistanceThreshold(0.1);
std::vector<std::pair<int, int> > assoNN; std::vector<std::pair<int, int> > assoNN;
matchingNumber = match(keypointSets[i], keypointSet2, assoNN); matchingNumber = match(keypointSets[i], keypointSet2, assoNN);
} }
} }
......
...@@ -80,6 +80,8 @@ public: ...@@ -80,6 +80,8 @@ public:
int matchingNumber; int matchingNumber;
int scanNumber=0; int scanNumber=0;
int scansExtracted=0;
}; };
} /* namespace laserscanutils */ } /* namespace laserscanutils */
......
...@@ -27,14 +27,14 @@ int main(int argc, char** argv) ...@@ -27,14 +27,14 @@ int main(int argc, char** argv)
scan1.fromRanges(testRanges1); scan1.fromRanges(testRanges1);
CornerFalko2d CornerMatching; CornerFalko2d cornerMatching;
CornerMatching.storeCorners(scan1, scanInterval); cornerMatching.storeCorners(scan1, scanInterval);
std::cout << "num keypoints1 extracted: " << CornerMatching.lastKeypointSet.size() << std::endl; std::cout << "num keypoints1 extracted: " << cornerMatching.lastKeypointSet.size() << std::endl;
CornerMatching.findLoopClosure(scan1); cornerMatching.findLoopClosure(scan1);
std::cout << "matching number : " << CornerMatching.matchingNumber << std::endl; std::cout << "matching number : " << cornerMatching.matchingNumber << std::endl;
} }
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